Investigation of adaptive PDF speed control for motion control

This paper proposes two model reference adaptive PF (PDF) spee d control methods for servo drives. Following from the structure (PF-type) of model r eference parameter adaptive control was developed to provide constant loop gain in speed control lo op with changing gain (moment of inertia and/or torque factor) it makes it easier to reach overs hootless as well as fast speed changing compensation caused by jump in load. The algorithm even keeps i ts stability at fast changing, jump- like load torque. Model reference signal adaptive control is us ed to provide constant loop gain in speed control loop with changing parameters exposed to a signif icant load. The approaching block diagram of the adaptive control can be seen as an extended vers ion of the PF controller, so one of the adaptation factors (which is the free parameter of the adaptive control) is given. Both model reference adaptive controls dra wn up can be easily implemented because the adaptation algorithms do not need acceleration measuring (thanks to the first-order m odel). Simulation and experimental results demonstrate that the proposed methods are promising too ls to speed control of electrical drives